Caplex with the Ankle-Foot Prosthesis


Caplex with the PRO Ankle-Foot Prosthesis is a testbed for emulating the mechanics of a prosthetic foot. The system includes the off-board Control System and Actuator Unit, the PRO Ankle-Foot Prosthesis (worn by the user), a simulator boot and lift shoe (for non-amputee use), and the flexible Tether. Components are available as a complete system including one prosthesis; components and additional devices may also be purchased separately.

The Caplex PRO-001 is a lightweight, high-performance tethered prosthetic foot that attaches to the user’s prescribed socket interface (or to the Caplex simulator boot, for non-amputees). The PRO-001 is suitable for transtibial amputees weighing up to 113 kg (250 pounds) and walking at speeds up to 1.8 m/s (4 mph). It is not suitable for running, jumping, or other high-impact movements.

PRO-001 Ankle-Foot Prosthesis
Property Note Value
Active Degree of Freedom Actuated by cable Keel / Forefoot
Plantarflexion / Dorsiflexion
Passive Degree of Freedom Compliant fiberglass bar Heel
Maximum Torque Plantarflexion 190 Nm
Dorsiflexion 5 Nm
Range of Motion Plantarflexion 41 degrees
Dorsiflexion 21.7 degrees
Force Sensor Inline load cell for ankle torque applied Accuracy +/- 1%
Angle Sensor Optical encoder for ankle forefoot angle 5000 cpr
Device Weight Without tether 0.96 kg
 

Caplex with the EXO Ankle Exoskeletons

Caplex with the EXO Ankle Exoskeleton is a testbed for emulating the mechanics of an ankle-foot exoskeleton or orthosis. The system includes the off-board Control System and Actuator Unit, the EXO Ankle Exoskeleton (worn by the user), and the flexible Tether. Components are available as a complete system including one exoskeleton; components and additional devices may also be purchased separately.


Caplex EXO-001


The Caplex EXO-001 is a lightweight, high-performance tethered ankle exoskeleton. It’s used with the included shoe, is easy to put on, and comfortable to wear. The EXO-001 has a higher torque output than the EXO-005 (180 Nm v. 50Nm) and is suitable for a range of walking and running speeds limited only by the user’s biological ankle.

 
EXO-001 Ankle Exoskeleton
Property Note Value
Active Degree of Freedom Actuated by cable Ankle
Plantarflexion / Dorsiflexion
Maximum Torque Plantarflexion 180 Nm
Dorsiflexion 1.5 Nm
Range of Motion Plantarflexion 45 degrees
Dorsiflexion 30 degrees
Force Sensor Inline load cell for ankle torque applied Accuracy +/- 1%
Angle Sensor Optical encoder for ankle angle 5000 cpr
Shoe Size Large (standard) Ships with a size 10.5 shoe; accommodates US Men’s sizes 10 to 13
Medium (optional) Modifies device to accommodate US Men’s sizes 7 to 9.5
Calf Size Max width: 14 cm (5.5 inch)
Max circumference: 50 cm (20 inch)
Device Weight Device plus US Men’s 10.5 shoe, without tether 1.4 kg

Caplex EXO-005


The Caplex EXO-005 is a lightweight, high-performance tethered ankle exoskeleton. Thanks to its lower torque output (50 Nm v. EXO-001's 180 Nm), it's sleeker and more form-fitting, allowing for more agile movement over uneven terrain. It integrates easily into a shoe (one is included, but any hightop, lace-up shoe or boot will work), making it even easier to put on and take off. The EXO-005's unique reinforced midsole is inserted into the midsole of the shoe without damaging the functionality of the shoe itself. The EXO-005 is suitable for a range of walking and running speeds limited only by the user’s biological ankle.

EXO-005 Ankle Exoskeleton
Property Note Value
Active Degree of Freedom Actuated by cable Ankle Plantarflexion
Maximum Torque Plantarflexion 50 Nm
Dorsiflexion 0 Nm
Range of Motion Plantarflexion 45 degrees
Dorsiflexion 43 degrees
Force Sensor Inline load cell for ankle torque applied Accuracy +/- 1%
Angle Sensor Optical encoder for ankle angle 5000 cpr
Shoe Size Large (standard) Ships with a size 10.5 shoe; accommodates US Men’s sizes 10 to 13
Medium (optional) Modifies device to accommodate US Men’s sizes 7 to 9.5
Calf Size   No limit
Device Weight Device plus US Men’s 10.5 shoe, without tether 1.4 kg
 

Caplex with the EXO Hip Exoskeleton


Caplex with the EXO Hip Exoskeleton is a testbed for emulating the mechanics of a hip exoskeleton. The system includes the off-board Control System and Actuator Unit, the EXO Hip Exoskeleton (worn by the user), and the flexible Tether. Components are available as a complete system including one EXO Hip Exoskeleton; components and additional devices may also be purchased separately.

The Caplex EXO-004 is a lightweight, high-performance tethered hip exoskeleton. It’s easy to put on and comfortable to wear. The EXO-004 can be configured for unilateral or bilateral actuation. Also, each joint can be actively actuated in flexion and extension (with a separate motor for each direction), or with one or the other direction passively actuated with a spring (four configurations: actuated flexion; actuated extension; actuated flexion and extension; and actuated extension plus spring-loaded flexion).

EXO-004 Hip Exoskeleton
Property Note Value
Active Degree of Freedom Actuated by cable Hip Flexion/Extension
Maximum Torque Actuated flexion 150 Nm
Free extension 0 Nm
Maximum Torque Free flexion 0 Nm
Actuated extension 150 Nm
Maximum Torque Actuated flexion 150 Nm
Actuated extension 150 Nm
Maximum Torque Spring-loaded flexion 30 Nm
Actuated extension 120 Nm
Range of Motion Flexion 90 degrees
Extension 30 degrees
Device Weight Unilateral actuation w/ spring-loaded flexion 4.0 kg
Bilateral actuation w/ spring-loaded flexion 7.0 kg
 

Caplex Control System


The Control System is one of the Caplex’s two off-board components. It includes a Windows Host PC, which runs the graphical user interface and MATLAB/Simulink programming interface; a real-time controller (RTS-001); and an I/O unit (IOB-003) to interface with Caplex or other hardware.

One IOB-004 end-effector module is required per actuated degree of freedom. Custom controller and I/O unit configurations are available on request. The Caplex Control System is available as part of a complete Caplex system and may also be purchased separately. 

Control System
Component Details
Caplex Graphical User Interface Runs in MATLAB 2017a in Windows 10
Caplex Programming Interface Runs in Simulink 2017a in Windows 10
Actuator Unit Graphical User Interface (optional) Runs Kollmorgen Workbench in Windows 10
RTS-001 Controller Runs in Simulink Real-Time. Includes 1 Ethernet/UDP/TCP/EtherCAT and 1 RS232 serial port for communication with external devices. Includes additional analog & digital I/O via the I/O Unit (see below).
IOB-003 I/O Unit 32 Analog inputs
8 Analog outputs
6 Quadrature decoders
2 SSI decoders
6 PWM capture
16 Digital I/O
IOB-004 End-Effector Modules Includes 1 load cell signal conditioner and the following I/O:
1 Quadrature input
1 Analog signal input
1 E-Stop / Motor enable circuit
 

Caplex Actuator Unit


The Actuator Unit is one of the Caplex’s two off-board components. It incorporates one or more industrial servomotors and drives in a compact, portable package for high-performance actuation of Humotech or other cable-actuated assistive devices (e.g., prosthesis or exoskeleton). Caplex Actuator Units are available as part of a complete Caplex system or may be purchased separately.

The Caplex Actuator Unit is available in several standard motor configurations: ACT-001 (single-axis), ACT-006 (three-axis), ACT-004 (four-axis), and ACT-005 (five-axis). Multiple units can be linked to actuate any number of degrees-of-freedom. Note: units are powered from 3-phase power (see below). Details below are for reference only; please contact us to discuss your electrical power needs.

Actuator Unit
Property Note Value
Maximum Motor Speed Unloaded, 480VAC supply1 2495 rpm
Maximum Cable Speed Unloaded, 480VAC supply1 4.98 m/s (16.34 ft/s)
Maximum Motor Torque At stall, motor-side 125 Nm (92.5 ft-lbs)
Maximum Cable Force At stall, motor-side 6.58 kN (1480 lbs)
Supply Voltage   480 VAC nominal
Supply Voltage (low-voltage configurations)   208 VAC or 240 VAC nominal
Rated Input Current   7.6 amps
Max Inrush Current   30 amps
Power Plug Type   NEMA L16-30
Power Plug Type (low-voltage configurations)   NEMA L15-30
1: Maximum speed depends on the voltage of the power supply. Specs above are for 480V. Speed will be reduced for lower voltages according to the following approximate formula: (Maximum motor speed in RPM) = (5.0047)*(VAC Input Voltage) + (93.0816)
 

Caplex Flexible Tether


The flexible Tether connects the Caplex Actuator Unit to the assistive device worn by the user. The Tether is available as part of a complete Caplex system or may be purchased separately.

The Caplex Tether incorporates a Bowden cable for mechanical transmission of force and motion from the Actuator Unit to the assistive device (e.g., prosthesis or exoskeleton) and a standard DB15 electrical cable for transmission of sensor and other electrical signals from the I/O unit to the assistive device. 

Flexible Tether
Property Note Value
Outer Diameter Inner cable 3 mm
Outer conduit 9 mm
Breaking Strength Ideal; knots and wear will reduce strength 1900 lb